DE102008043761A1 - Vehicle assisting system adapting method for recognizing vehicle or person in traffic sign, involves supplying control signal corresponding to traffic sign information, where control signal controls vehicle assisting system - Google Patents

Vehicle assisting system adapting method for recognizing vehicle or person in traffic sign, involves supplying control signal corresponding to traffic sign information, where control signal controls vehicle assisting system

Info

Publication number
DE102008043761A1
DE102008043761A1 DE200810043761 DE102008043761A DE102008043761A1 DE 102008043761 A1 DE102008043761 A1 DE 102008043761A1 DE 200810043761 DE200810043761 DE 200810043761 DE 102008043761 A DE102008043761 A DE 102008043761A DE 102008043761 A1 DE102008043761 A1 DE 102008043761A1
Authority
DE
Germany
Prior art keywords
vehicle
traffic sign
control signal
sign information
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
DE200810043761
Other languages
German (de)
Other versions
DE102008043761B4 (en
Inventor
Anke Brock
Omar Alaa El-Din
Holger Janssen
Frank Suhling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to DE102008043761.1A priority Critical patent/DE102008043761B4/en
Publication of DE102008043761A1 publication Critical patent/DE102008043761A1/en
Application granted granted Critical
Publication of DE102008043761B4 publication Critical patent/DE102008043761B4/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04Traffic conditions
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G06K9/00791Recognising scenes perceived from the perspective of a land vehicle, e.g. recognising lanes, obstacles or traffic signs on road scenes
    • G06K9/00818Recognising traffic signs

Abstract

A method is proposed for adapting a vehicle assist system comprising a step of receiving (101) a sensor signal via an interface, a step of determining (102) traffic sign information based on the sensor signal, and a step of providing (103) a control signal; in response to the traffic sign information. In this case, the sensor signal is suitable for detecting a traffic sign in an environment of the vehicle and the control signal is suitable for driving a vehicle assistance system.

Description

  • State of the art
  • The The present invention relates to a method according to claim 1, a control device according to claim 12, and a computer program product according to claim 13th
  • The DE 19736774 A1 describes a method for displaying information in a vehicle. In this case, a section of an image of a camera is displayed on a display unit. The picture may show a traffic sign.
  • It exist systems for the recognition of traffic signs (traffic sign recognition VZE), which can be used in vehicles. The systems can different, set up on the streets Recognize traffic signs and indicate to the driver.
  • moreover There are systems for detecting objects in traffic. For example, vehicles, trucks or pedestrians be recognized. These systems have to recognize objects partly specialized classifiers to the different classes to recognize objects (object recognition OE). For the detection of the systems video sensors or RADAR or ultrasound based Sensors are used.
  • Further are engine management systems (MM) and vehicle dynamics control systems (FD) known in the vehicle for optimized engine performance and provide road-adapted driving dynamics.
  • Disclosure of the invention
  • In front In this background, the present invention provides a method for adapting a vehicle assistance system, furthermore a control device to customize a vehicle assistance system and finally a corresponding computer program product according to independent claims presented. advantageous Embodiments of the invention will become apparent from the respective dependent claims and the description below.
  • The Invention is based on the recognition that with a system this is both a traffic sign recognition and an object recognition has achieved an improvement in the object recognition performance can be. Improving the object recognition performance can The result is that on the basis of information from the traffic sign recognition the object recognition can use other classification methods.
  • To the the invention is based on the recognition that the engine management and the vehicle dynamics control using a traffic sign recognition can be optimized so that better fits this Systems are possible to existing environmental conditions.
  • The The present invention provides a method for adapting a vehicle assistance system. the one step of receiving a sensor signal via an interface, wherein the sensor signal for detecting a traffic sign is suitable in an environment of a vehicle; a step of Determining traffic sign information based on the sensor signal; and a step of providing a control signal, responsive to the traffic sign information, wherein the control signal is suitable to control a vehicle assistance system. In the vehicle assistance system It can be a system for object recognition or a system for vehicle control, such as an engine management system or a vehicle dynamics control system. The sensor signal can represent a signal from a sensor for traffic sign recognition provided. Is the procedure of a control unit executed, it may be at the interface to a Act interface of the controller. The traffic sign information may be an indication of a recognized traffic sign or its Have meaning. The control signal may include information that is determined from the traffic sign information. Furthermore, the Control signal depending on the type of traffic sign information be provided or not provided.
  • According to one Embodiment, the control signal is suitable to an object recognition system head for. In this case, the control signal may be formed to the Object recognition system on, on the traffic sign information to set a coordinated classification procedure. Thus, the Object detection can be optimally adjusted to a situation that is announced by a recognized traffic sign. The Classification procedure can by selecting one, on the appropriate situation adjusted classifier, set become. The classifier may have predetermined parameters, which are particularly suitable for detecting a specific object. For this purpose, the control signal can be designed to respond to the classification method matched classifier from a memory to the object recognition system provide. Thus, depending on the situation to predetermined Classifiers are used.
  • For example, the traffic sign can be formation have a warning of a specific object and the control signal can be configured to set the object recognition system to a method for detecting the specific object. For example, it may be a warning to persons. Thus, the system z. B. be optimized in response to a city entrance sign on a person recognition.
  • Further the traffic sign information may contain information about have a currently traveled road and the control signal may be configured to apply the object recognition system to a classification method set that on one of the currently busy road appropriate street type is tuned. Thus, you can for example, for a motorway characteristic settings be made.
  • According to one In another embodiment, the control signal is suitable to a vehicle control accordingly the traffic sign information. For example, can the traffic sign information an indication of a speed change and the control signal may be configured to control the vehicle to adjust to a changed vehicle speed. Thus, depending on a detected traffic sign prepared or initiated a vehicle acceleration or braking become.
  • These the vehicle control system is an engine management system, Thus, the control signal may be formed to the engine management system to an engine power adapted to the traffic sign information adjust. For example, the engine power within a Town be throttled.
  • These vehicle control is a vehicle dynamics control system, Thus, the vehicle control may be configured to the vehicle dynamics control system to set the traffic sign information corresponding vehicle behavior. For example, a curve behavior of the vehicle can be adapted to the ambient conditions become.
  • According to one In another embodiment, the control signal may be designed to in response to the traffic sign information, a warning to a To provide vehicle drivers. Thus, the driver of the vehicle For example, attention is drawn to a speed limit.
  • The The present invention further provides a controller that a device for receiving a sensor signal via an interface, wherein the sensor signal for detecting a traffic sign is suitable in an environment of the vehicle; a facility for Determining traffic sign information based on the sensor signal; and a device for providing a control signal, responsive to the traffic sign information, the control signal being suitable is to drive a vehicle assistance system has. Also by this embodiment of the invention in the form of a Device can quickly achieve the object underlying the invention and be solved efficiently.
  • From Advantage is also a computer program product with program code, the on a machine-readable medium such as a semiconductor memory, stored in a hard disk memory or an optical memory is and to carry out the method according to one of used in the above-described embodiments, if the program is running on a controller becomes.
  • The The invention will be described below with reference to the accompanying drawings exemplified in more detail. Show it:
  • 1 a flow diagram of the method according to the invention;
  • 2 a block diagram of another embodiment of the present invention; and
  • 3 a block diagram of another embodiment of the present invention.
  • Same or similar elements can be found in the following Figures provided by the same or similar reference numerals be. Further included in the figures of the drawings, their description and the claims numerous features in combination. a It is clear to a person skilled in the art that these features are also considered individually or they become further combinations not explicitly described here can be summarized.
  • 1 FIG. 12 is a flowchart of a method for customizing a vehicle assistance system according to an embodiment of the present invention. In a first step of the method according to the invention, receiving ( 101 ) of a sensor signal via an interface. The sensor signal is suitable for detecting a traffic sign in an environment of a vehicle. In a following step, a determination ( 102 ) traffic sign information based on the sensor signal. Subsequently, a provision is made ( 103 ) of a control signal. The control signal is provided in response to the traffic sign information and is adapted to drive a vehicle assistance system.
  • at The vehicle assistance system may be an object recognition system Act that with the help of specialized classifiers different Can recognize classes of objects. In this case, the control signal suitable for controlling the object recognition system. In particular, can the control signal may be designed to be the object recognition system to a classification method adapted to the traffic sign information adjust. The setting can be done by loading a classifier come from a memory based on the classification process and thus also tuned to the traffic sign information.
  • The For example, traffic sign information may be indicative of have a sign with a warning of game change. A hint for People on the road can, for example, by recognizing a Pedestrian crossing sign or too be caused indirectly by recognizing a place sign. In this case, the system may have an assignment rule, the one recognized place sign, for example, with a possible presence linked by pedestrians. In this case For example, the control signal may be configured to be the object recognition system specifically to detect people.
  • Also the traffic sign information may contain information about have a currently busy road. A street type can be detected, for example, by a motorway sign. Thus, can the control signal may be designed to be the object recognition system specifically to adjust to a classification method that a street type corresponding to the road currently being traveled is tuned.
  • at The vehicle assistance system may also be a vehicle controller act. In this case, the control signal may be configured to the vehicle control according to the traffic sign information adjust. By recognizing a sign with a speed limit For example, the traffic sign information may be an indication to have a speed change. Thus, can the control signal may be configured to control the vehicle set changed vehicle speed. The control the vehicle control may additionally or alternatively to the control of the object detection done. Furthermore For example, the control signal may be configured to respond to the traffic sign information to provide a warning to a vehicle driver.
  • For example The vehicle control may be an engine management system. In this case, the control signal may be configured to the engine management system To adjust so that the engine power of the engine of the vehicle is adapted to the traffic sign information.
  • Further For example, vehicle control may be a vehicle dynamics control system act. In this case, the control signal may be configured to the vehicle dynamics control system on, the traffic sign information adjust appropriate vehicle behavior. For example, can a cornering behavior or a damping of the vehicle accordingly be adjusted.
  • The inventive method can, for example executed by a control unit of a vehicle become. For this purpose, the controller can be a device for Receiving a sensor signal via an interface. The device for receiving the sensor signal can be used as an input circuit be formed of the control unit. Furthermore, the control unit a device for determining traffic sign information and means for providing a control signal. The device for determining the traffic sign information and the means for providing the control signal may each formed as logic circuits of the controller be.
  • 2 shows a block diagram of a method for evaluating a sensor signal, according to a first embodiment of the present invention. In particular, a system for controlling an object classifier by means of traffic sign recognition is shown.
  • Shown is a vehicle 210 that has a sensor 211 , a computing unit 213 , another arithmetic unit 215 a permanent memory 216 and a volatile memory 217 having. The sensor 211 may be a video based sensor and configured to be a traffic sign 221 to detect or recognize. The sensor 211 may be configured to send a sensor signal to the arithmetic unit 213 provide. The arithmetic unit 213 can be designed as a traffic sign recognition system and can contain information about a recognized sign 221 to the further processing unit 215 provide. The further arithmetic unit 215 may provide an object recognition functionality and be configured to evaluate the result of traffic sign recognition.
  • The permanent storage 216 may include an object classification method. The further arithmetic unit 215 may be configured to load certain classifiers from the persistent store and place them in the volatile memory. In this way, those classifiers can be provided which are especially suitable for the recognition of objects to which a straight recognized traffic sign indicates.
  • According to this embodiment, in the vehicle 210 the video sensor 211 installed, although other sensors are possible as an alternative. The video sensor 211 is with the arithmetic unit 213 connected. On the computer unit 213 Running a traffic sign recognition, which passes on their results wireless or wired (CAN, Ethernet) or internally in the arithmetic unit to an object detection system. The object recognition system runs either on the computing unit 213 or on the separate arithmetic unit 215 , An object recognition processing unit is with the permanent memory 216 equipped, in which all required object classification procedures are stored. After interpreting the results of the traffic sign recognition system, the object recognition system loads specialized classifiers from the permanent memory 216 in the volatile memory 217 in which all calculations are performed with the classifier. Alternatively, the charging process can be omitted, or an evaluation of the traffic sign detection results can lead to a change of parameters of an evaluation in an alternative hardware (ASIC, FPGA).
  • According to this Embodiment will be two existing systems in the Connected to a new, much better system. Especially become a traffic sign recognition system and an object recognition system coupled together. This will make the object recognition system Information about the environment of a vehicle is available determined by the traffic sign recognition system become. This information allows the use of situation-dependent Method for object recognition. This will improve the Detection performance achieved.
  • For example For example, the traffic sign recognition system can recognize a sign that warns of animals (game in Germany, kangaroo in Australia, etc.). The traffic sign recognition system can Object recognition system to report the found sign. The object recognition system can then load specialized classification methods that allow the Object recognition system z. B. can detect wild. Thus, appealing on a recognized shield, the classification associated with the shield loaded and executed.
  • Recognizes the traffic sign recognition system, for example, a pedestrian crossing sign, The object recognition system can then load specialized pedestrian classifiers. These specialized pedestrian classifiers Otherwise, for example, off the highway be. Thus, classifiers can also special types be assigned by roads or traffic routes.
  • 3 shows a block diagram of a method for evaluating a sensor signal, according to a second embodiment of the present invention. In particular, an adaptive engine management and an adaptive vehicle dynamics control using a traffic sign recognition system are shown.
  • Shown is a vehicle 210 that has a sensor 211 , a computing unit 213 , another arithmetic unit 215 and a permanent memory 216 having. The sensor 211 may be a video based sensor and configured to be a traffic sign 221 to detect or recognize. The sensor 211 may be configured to send a sensor signal to the arithmetic unit 213 provide. The arithmetic unit 213 can be designed as a traffic sign recognition system. In particular, the arithmetic unit 213 an information about a recognized character 221 to the further processing unit 215 provide. The further arithmetic unit 215 can be configured as an engine management system and / or as a vehicle dynamics control system and evaluate a result of traffic sign recognition. The permanent storage 216 contains parameters for the engine management and / or the vehicle dynamics control. In response to a detected traffic sign, the further computing unit 215 Thus, select appropriate parameters for the engine management and / or the vehicle dynamics control in the memory 216 are stored.
  • The vehicle 210 may further include one or more other sensors 312 exhibit. The other sensors 312 can be configured to vehicle data and system data, such. B. to detect the speed of the vehicle and to the other processing unit 215 provide. The further arithmetic unit 215 may be configured to evaluate the vehicle data additionally or alternatively to the result of the traffic sign recognition.
  • According to this embodiment, in the vehicle 210 the video sensor 211 installed, although other sensors are possible as an alternative. The video sensor 211 is with the arithmetic unit 213 connected. On the computer unit 213 a traffic sign recognition is carried out, which transmit their results wirelessly or by wire (CAN, Ethernet) or in the arithmetic unit internally to an engine management system and / or in the vehicle dynamics control system. The engine management and / or vehicle dynamics control system is either on the computing unit 213 or on the separate arithmetic unit 215 executed. In addition, the current vehicle and engine data via external sensors 312 be determined. An engine management ment and / or vehicle dynamics control computing unit is with permanent memory 216 fitted. On the permanent storage 216 Various parameters for the engine management and / or the vehicle dynamics control are stored. By evaluating the currently valid traffic signs and the current vehicle data, the engine management and / or vehicle dynamics control computing unit can select a parameter set adapted to the driving situation with which the engine and / or the driving dynamics can be optimally adjusted to the prevailing situation. Thus, the engine management and the vehicle dynamics control, according to this embodiment, be adapted to the current driving situation by evaluating the traffic sign information.
  • According to the invention the engine management and vehicle dynamics control, for example with a driveway in a city to the rides in the city with be adapted to low speed. The entrance to the city can be detected by the recognition of the city entrance sign by the traffic sign recognition be determined. To adapt to city traffic, a change of the Engine management done in order to save as much as possible in the City drive. Furthermore, the driving dynamics can be changed, to drive well in the tight corners of the city. When detecting pedestrian crossing signs or stop signs and an unmatched speed or driving style, the vehicle can also rely on a strong braking to get prepared.
  • at Rides with large differential speeds can the engine management systems and the vehicle dynamics control systems be prepared for the change of speed. Thus, a preparation of a strong braking when driving with high speeds are triggered when a detection a speed limit by the traffic sign recognition he follows. This can, for example, in a highway ride with 250 km / h and the detection of a speed limit sign be carried out at a limit of 120 km / h. Likewise a preparation of the engine management for a strong acceleration take place when a speed limit is detected. This For example, when driving at 120 km / h on the highway and a recognition of a cancellation sign performed become. Furthermore, a preparation of a strong braking is at Detection of a warning triangle on the roadside possible.
  • Also a warning to the driver can be provided. For example can brake pressure at excessive speed be executed as a warning function.
  • The described embodiments are only exemplary chosen and can be combined with each other. In particular, individual process steps can also be implemented in different order or multiple executed become.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
  • Cited patent literature
    • - DE 19736774 A1 [0002]

Claims (13)

  1. Method for adapting a vehicle assistance system, comprising the following steps: receiving ( 101 ) of a sensor signal via an interface, wherein the sensor signal for detecting a traffic sign ( 221 ) in an environment of a vehicle ( 210 ) suitable is; Determine ( 102 ) traffic sign information based on the sensor signal; and deploy ( 103 ) of a control signal in response to the traffic sign information, wherein the control signal is adapted to a vehicle assistance system ( 215 ) head for.
  2. Method according to Claim 1, in which the control signal is suitable for generating an object recognition system ( 215 ) head for.
  3. Method according to Claim 2, in which the control signal is designed to operate the object recognition system ( 215 ) to set a classification method tuned to the traffic sign information.
  4. Method according to Claim 3, in which the control signal is designed to generate a classifier adapted from the classification method from a memory ( 216 ) to the object recognition system ( 215 ).
  5. Method according to one of claims 2 to 4, wherein the traffic sign information comprises a warning of a specific object and the control signal is adapted to operate the object recognition system ( 215 ) to set a method for recognizing the specific object.
  6. Method according to one of Claims 2 to 5, in which the traffic sign information comprises information about a road currently being traveled and the control signal is designed to operate the object recognition system ( 215 ) to adjust to a classification process that is tuned to a street type that corresponds to the current traffic route.
  7. Method according to Claim 1, in which the control signal is suitable for controlling a vehicle control ( 215 ) according to the traffic sign information.
  8. A method according to claim 7, wherein the traffic sign information includes an indication of a speed change and the control signal is adapted to control the vehicle control ( 215 ) to a changed vehicle speed.
  9. Method according to one of claims 7 or 8, in which the vehicle control system is an engine management system ( 215 ), and the control signal is adapted to set the engine management system to an engine output adapted to the traffic sign information.
  10. Method according to one of Claims 7 to 9, in which the vehicle control system has a vehicle dynamics control system ( 215 ), and the control signal is adapted to set the vehicle dynamics control system to a vehicle behavior corresponding to the traffic sign information.
  11. Method according to one of the preceding Claims in which the control signal is designed to in response to the traffic sign information, a warning to a To provide vehicle drivers.
  12. A control device, comprising: means for receiving a sensor signal via an interface, wherein the sensor signal for detecting a traffic sign ( 221 ) in an environment of the vehicle ( 210 ) suitable is; means for determining traffic sign information based on the sensor signal; and means for providing a control signal in response to the traffic sign information, the control signal being adapted to provide a vehicle assistance system ( 215 ) head for.
  13. Computer program product with program code based on a machine-readable carrier is stored for execution The method according to any one of claims 1 to 11, when the program is executed on a control unit becomes.
DE102008043761.1A 2008-11-14 2008-11-14 Method and control unit for adapting a vehicle assistance system Active DE102008043761B4 (en)

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Cited By (6)

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DE102013222040A1 (en) * 2013-10-30 2015-04-30 Volkswagen Aktiengesellschaft Method and device for accident prevention
WO2015014583A3 (en) * 2013-08-01 2015-07-02 Robert Bosch Gmbh Method for the automatic parameterization of a driving dynamics control system
DE102014202099A1 (en) * 2014-02-05 2015-08-06 Bayerische Motoren Werke Aktiengesellschaft Warning of increased vehicle speed due to short-term temporary reduction in longitudinal acceleration
DE102014118058A1 (en) * 2014-12-08 2016-06-09 Valeo Schalter Und Sensoren Gmbh Device and method for warning message output and / or intervention in the vehicle control of a motor vehicle
WO2017125332A2 (en) 2016-01-23 2017-07-27 Audi Ag Detection of a dangerous situation in road traffic
DE102017112364A1 (en) 2017-06-06 2018-12-06 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for controlling a drive system of a motor vehicle

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DE102014202099A1 (en) * 2014-02-05 2015-08-06 Bayerische Motoren Werke Aktiengesellschaft Warning of increased vehicle speed due to short-term temporary reduction in longitudinal acceleration
DE102014118058A1 (en) * 2014-12-08 2016-06-09 Valeo Schalter Und Sensoren Gmbh Device and method for warning message output and / or intervention in the vehicle control of a motor vehicle
WO2017125332A2 (en) 2016-01-23 2017-07-27 Audi Ag Detection of a dangerous situation in road traffic
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DE102017112364A1 (en) 2017-06-06 2018-12-06 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Method for controlling a drive system of a motor vehicle

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